Dear Unk, thank you for your question.
Having visited your medical doctor as well as an Urologist, one can rule out cancer. However, I can quite understand that this is something very uncomfortable. It is suggested that you do obtain a second opinion. It is possible that a different doctor might find something, e.g. allergy to the type of underwear (synthetic material, etc) of the type of soap used to wash your underwear. (MCH).
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